/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/math/CQuaternion.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>

#include <iostream>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;

// ------------------------------------------------------
//				TestQuaternions
// ------------------------------------------------------
void TestQuaternions()
{
  CQuaternionDouble q1, q2, q3;

  // q1 = CQuaternionDouble(1,2,3,4); q1.normalize();
  CPose3D p1(0, 0, 0, 10.0_deg, 30.0_deg, -20.0_deg);
  p1.getAsQuaternion(q1);

  CPose3D p2(0, 0, 0, 30.0_deg, -20.0_deg, 10.0_deg);
  p2.getAsQuaternion(q2);

  // q3 = q1 x q2
  q3.crossProduct(q1, q2);

  const CPose3D p3 = p1 + p2;

  cout << "q1 = " << q1 << endl;
  cout << "q1 as CPose3D = " << CPose3D(q1, 0, 0, 0) << endl;
  cout << endl;
  cout << "q2 = " << q2 << endl;
  cout << "q2 as CPose3D = " << CPose3D(q2, 0, 0, 0) << endl;
  cout << endl;
  cout << "q3 = q1 * q2 = " << q3 << endl;
  cout << "q3 as CPose3D = " << CPose3D(q3, 0, 0, 0) << endl;

  cout << endl << "Should be equal to p3 = p1 (+) p2 = " << p3 << endl;
}

void TestQuaternionsIterators()
{
  CPose3DQuat q(1.0, 2.0, 3.0, CQuaternionDouble());

  cout << "Dump with iterators: ";
  for (CPose3DQuat::iterator it = q.begin(); it != q.end(); ++it) cout << *it << " ";
  cout << endl;
}

int main(int argc, char** argv)
{
  try
  {
    TestQuaternions();
    TestQuaternionsIterators();

    return 0;
  }
  catch (const std::exception& e)
  {
    std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
    return -1;
  }
  catch (...)
  {
    printf("Another exception!!");
    return -1;
  }
}
